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In this paper, a class of controllable nonlinear stationary systems of ordinary differential equations with an account of external perturbations is studied. The control satisfies given restrictions, and there is… Click to show full abstract
In this paper, a class of controllable nonlinear stationary systems of ordinary differential equations with an account of external perturbations is studied. The control satisfies given restrictions, and there is a fixed delay in it. An algorithm to construct a control transferring a system from a certain initial state to an arbitrary neighborhood of the origin is proposed. The algorithm has both numerical and analytical stages and is easy to implement. A constructive sufficient Kalman-type condition of possibility of the transfer is derived. The algorithm efficiency is demonstrated by solving a robot manipulator controlling problem.
Journal Title: Symmetry
Year Published: 2022
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